天津工业大学学报Issue(6)：70-73,4.
2UPS-RPU并联机构的鲁棒轨迹跟踪控制
Robust tracking control of 2UPS-RPU parallel mechanism
摘要
Abstract
A new series input containing branched 4 DOF parallel mechanism is researched. A robust control algorithm, aimed at many unmodelled parts exist while modelling the dynamics of the parallel mechanism and external disturbance come from outside, is proposed to apply to trajectory tracking of the moving platform of parallel mechanism. Using the Simulink to simulate, the simulation results certify that the algorithm can eliminate the worst influence comes from these uncertainties. It has much more responsive and better robustness on tracking the moving platform.关键词
并联机构/动力学模型/鲁棒控制/轨迹跟踪Key words
parallel mechanism/dynamics model/robust control/trajectory tracking分类
机械制造引用本文复制引用
冯志友,范志宏..2UPS-RPU并联机构的鲁棒轨迹跟踪控制[J].天津工业大学学报,2014,(6):70-73,4.基金项目
天津市自然科学基金资助项目 （）
